Connected and Automated Vehicles

GPS/ INS Based Lateral And Longitudinal Control Demonstration: Final Report

Farrell, Jay
Barth, Matthew
Galijan, Randy
Sinko, Jim
1998

This report describes the results of a one year effort to implement and analyze the performance of a Differ- ential Global Positioning System (DGPS) aided Inertial Navigation System (INS) for possible future use in Advanced Vehicle Control Systems (AVCS). The initial premise of this project was that DGPS/INS technology has the potential to serve as a centimeter-level position reference system as necessary for automated driving functions. Key advantages of this approach include: 1) no changes to the highway infrastructure are required; therefore, the DGPS/INS system should be less expensive...

Nonlinear Longitudinal Controller Development and Real-time Implementation

Lu, Xiao-Yun
Tan, Han-Shue
Empey, Dan
Shladover, Steven E.
Hedrick, J. Karl
2000

Keywords longitudinal control, car platooning, back-stepping control, multi-surface dynamic sliding mode control, integral filters, realtime control code This report presents the development of nonlinear longitudinal controllers and their realtime implementation for Automated Highway Systems (AHS) at PATH, U. C. Berkeley supported by the project MOU 331. The demo'97 realtime code was first reconstructed for further development. Based on the new framework, the implementation and comparison of nonlinear controllers in the longitudinal control for cars platooning and other maneuvers have been...

Fmcw Mmw Radar For Automotive Longitudinal Control

David, William
1997

This report presents information on millimeter wave (MMW) radar for automotive longitudinal control. It addresses the fundamental capabilities and limitations of millimeter waves for ranging and contrasts their operation with that of conventional microwave radar. The report analyzes pulsed and FMCW radar configurations, and provides detailed treatment of FMCW radar operating at MMW frequency, its advantages and disadvantages as they relate to range and velocity measurements.

Evaluation And Analysis Of Automated Highway System Concepts And Architectures

Ioannou, Petros
1998

This is the final report for the project entitled \Evaluation and Analysis of Automated Highway System Concepts and Architectures" in response to the contractual requirements of the Memorandum of Understanding MOU# 235, between the Partners of Advanced Transit and Highways (PATH) and the University of Southern California, administered at the University of Califor- nia at Berkeley. The purpose of this project was to select, evaluate and analyze a num- ber of promising Automated Highway System (AHS) operational concepts based on previous work. The evaluation and analysis includes headway dis...

Longitudinal Control Of A Platoon Of Vehicles. Ii, First And Second Order Time Derivatives Of Distance Deviations

Sheikholeslam, Shahab
Desoer, Charles A.
1989

This report is an addendum to PATH Research ReportUCB-ITS-PRR-89-3.

Experimental Automatic Lateral Control System For An Automobile

Peng, Huei
Zhang, Wei-bin
Arai, Alan
Lin, Ye
Hessburg, Thomas
Devlin, Peter
Tomizuka, Masayoshi
Shladover, Steven
1992

This report summarizes an experimental effort in integrating and testing an automated vehicle lateral control system. The project, a cooperative effort between the California Partners for Advanced Transit and Highway ( PATH) Program and IMRA America, Inc., included a discrete roadway reference system, on-vehicle magnetic sensing system, a computer control system and a hydraulic actuator.

Automated Highway System Field Operational Tests For The State Of California: Potential Sites, Configurations And Characteristics

Hall, Randolph W.
Thakker, Viral
Horan, Thomas A.
Glazer, Jesse
Hoene, Chris
1997

This report describes possible objectives for a Field Operational Test (FOT), to be conducted following the completion of the National Automated Highway System Consortium (NAHSC) mission in 2002. At that time, it is anticipated that there will be one or more FOTs in which ordinary drivers will use automated vehicles on a real roadway, under test conditions. The report also identifies potential test sites in California, and evaluates the merits of these sites for conducting different types of tests.

Simple Results on Communication With Neighbors

Puri, Anuj
Varaiya, Pravin
1999

Normal Communication Networks require the Sender to specify the address of the Receiver before communication can take place. In problems that a rise in an Automated Vehicle Highway System, the Sender can identify the Receiver by its physical location only (i.e. a car wanting to communicate with the car immediately in front of it). Normal Communication Procedures that use the Receiver's Address to establish communication must be preceded by an Address Finding Protocol. An Address Finding Protocol which uses the Absoulate Location of vehicles has been proposed in [2] and is reviewed in...

Liability and Regulation of Autonomous Vehicle Technologies

Kalra, Nidhi
Anderson, James
Wachs, Martin
2009

Autonomous vehicle technologies and advanced driver-assistance systems have the potential to significantly improve transportation safety and efficiency, and, collectively, they may offer tremendous social, economic, and environmental benefits. As these technologies increasingly perform driving functions, they also create a shift in responsibility for driving from the driver to the vehicle itself. This motivates a new look at liability and regulatory regimes because of the increasing uncertainty about what should happen when the inevitable crash occurs and the implications for the adoption...

Automated Travel Time Measurement Using Vehicle Lengths from Loop Detector Speed Traps

Coifman, Benjamin
Cassidy, Michael
2000

This report presents a vehicle reidentification algorithm for consecutive detector stations on a freeway, whereby a vehicle measurement made at a downstream detector station is matched with the vehicle's corresponding measurement at an upstream station. The algorithm should improve freeway surveillance by measuring the actual vehicle travel times; these are simply the differences in the times that each (matched) vehicle arrives to the upstream and downstream stations. Thus, it will be possible to quantify conditions between widely spaced detector stations rather than assuming that the...